Adaptive Jacobian position/force tracking control of free-flying manipulators

被引：32

作者：

Wang, Hanlei ^{[1
]}

Xie, Yongchun ^{[1
]}

机构：

[1] Chinese Acad Space Technol, Beijing Inst Control Engn, Natl Lab Space Intelligent Control, Beijing 100190, Peoples R China

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2009年 / 57卷 / 02期

关键词：

Adaptive control; Force control; Free-flying manipulator; Uncertain kinematics; Compliant contact; FORCE CONTROL; IMPEDANCE CONTROL; HYBRID-POSITION; ROBOTIC MANIPULATOR; CONSTRAINED ROBOTS; SPACE; MOTION; KINEMATICS; VISION; FINGER;

D O I：

10.1016/j.robot.2008.05.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper solves the problem of position/force tracking control of a free-flying space manipulator with uncertain kinematics and dynamics. A free-flying manipulator interacting with an uncertain compliant surface is considered. To cope with the uncertainties arising from free-flyer's kinematics, dynamics and surface stiffness and position, an adaptive Jacobian controller is devised. The convergence of the force and position tracking errors is proved based on Lyapunov stability analysis. Numerical simulation is presented to show the performance of the controller. (C) 2008 Elsevier B.V. All rights reserved.

引用

页码：173 / 181

页数：9

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